Rehabilitation physiotherapy robot and channel following massage method thereof

Abstract

The invention discloses a rehabilitation physiotherapy robot and a channel following massage method thereof.The channel following massage method of the rehabilitation physiotherapy robot comprises the steps that a depth camera and a thermal imaging camera are started, and depth image information and thermal imaging image information of a patient are obtained respectively; generating a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image; prompting the user to mark the characteristic acupuncture point, and acquiring the actual position information of the characteristic acupuncture point and the theoretical position information in the first meridian image; when an error value between the actual position information and the theoretical position information is not greater than a preset error threshold value, determining the first meridian image as a target meridian image; and controlling a massage device to perform massage physiotherapy on the user according to the target meridian image and the thermal imaging image information. The massage device can be operated to carry out more targeted and more effective massage physical therapy on a patient.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation therapy robots, and in particular to a rehabilitation therapy robot and a meridian massage method thereof. Background Art

[0002] The meridians of the human body are an important concept in the theory of traditional Chinese medicine. They refer to the network of channels for the circulation of qi and blood, connecting various parts of the human body and connecting with the internal organs. The meridian system includes the twelve main meridians, the eight extraordinary meridians, and the collaterals, forming a complex network structure. The functions of the meridians include: transmitting information, the meridians can transmit information about changes in the internal and external environment to the corresponding internal organs to maintain the body's homeostasis; transporting qi and blood, as the main channel for the circulation of qi and blood, ensuring that nutrients can be transported to all parts of the body and waste can be excreted from the body; regulating the balance of yin and yang, maintaining the stability and harmony of the internal environment of the body by coordinating the two aspects of yin and yang; resisting external evil, the meridian system helps to enhance the body's resistance and prevent the invasion of external pathogens. Traditional Chinese medicine believes that when the meridians are unobstructed, the human body will be in a healthy state; if the meridians are blocked or the qi and blood are not smooth, it may lead to the occurrence of diseases.

[0003] Existing rehabilitation therapy robots generally do not have the function of following meridians, but simply provide massage movements such as beating or pressing, which reduces the rehabilitation therapy effect of the rehabilitation therapy robots on patients. Summary of the invention

[0004] The main purpose of the present invention is to provide a rehabilitation therapy robot and a meridian massage method thereof, aiming to solve the problem that traditional rehabilitation therapy robots cannot accurately find the patient's meridians and perform effective therapeutic massage.

[0005] To achieve the above-mentioned object, the present invention proposes a meridian massage method for a rehabilitation therapy robot, wherein the meridian massage robot comprises a body and a depth camera, a thermal imaging camera and a massage device arranged on the body, and the meridian massage method for the rehabilitation therapy robot comprises:

[0006] Enable the depth camera and the thermal imaging camera, and obtain the depth image information and thermal imaging image information of the patient respectively;

[0007] Generate a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image;

[0008] Prompting the user to mark a characteristic acupoint, and obtaining actual position information of the characteristic acupoint and theoretical position information of the characteristic acupoint in the first meridian image;

[0009] After the error value between the actual position information and the theoretical position information is not greater than a preset error threshold, determining the first meridian image as a target meridian image;

[0010] According to the target meridian image and the thermal imaging image information, the massage device is controlled to perform massage therapy on the user.

[0011] Optionally, the step of enabling the depth camera and the thermal imaging camera and respectively acquiring the depth image information and the thermal imaging image information of the patient includes:

[0012] Prompting the patient to adjust to at least two different preset postures in sequence;

[0013] After each posture adjustment is in place, the depth camera and the thermal imaging camera are enabled to obtain the patient's depth image information and thermal imaging image information respectively;

[0014] Each of the preset postures, each of the depth image information and each of the thermal imaging image information are associated in a one-to-one correspondence.

[0015] Optionally, the step of generating a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image includes:

[0016] constructing a human body model of the patient according to the depth image information;

[0017] According to the thermal imaging image information, a plurality of reference organs of the patient are identified at the human body model, and a plurality of reference acupuncture points are determined according to each of the reference organs;

[0018] The pre-stored theoretical meridian image is called, and the first meridian image is generated at the human body model by matching each of the reference acupoints with the theoretical acupoints in the theoretical meridian image one by one.

[0019] Optionally, before the step of generating a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image, the method further includes:

[0020] The patient information of the patient is obtained, and the range of the target meridian image to be generated is determined according to the patient information.

[0021] Optionally, there are at least two characteristic acupoints.

[0022] Optionally, after the step of prompting the user to mark the characteristic acupoints and obtaining the actual position information of the characteristic acupoints and the theoretical position information of the characteristic acupoints in the first meridian image, the method further includes:

[0023] After the error value between the actual position information and the theoretical position information is greater than a preset error threshold, correcting the first meridian image according to the error value;

[0024] The user is prompted to mark another characteristic acupoint, and the actual position information of the characteristic acupoint and the theoretical position information in the corrected first meridian image are obtained, until the error value between the actual position information and the theoretical position information is no greater than a preset error threshold, and the currently corresponding first meridian image is determined to be the target meridian image.

[0025] Optionally, the step of controlling the massage device to perform massage therapy on the user according to the target meridian image and the thermal imaging image information includes:

[0026] Acquire the patient's medical information, and generate the patient's medical treatment requirement information according to the patient information and the thermal imaging image information;

[0027] Determining working parameters of a massage device according to the therapy demand information and the target meridian image;

[0028] The massage device is controlled to start running according to the working parameters.

[0029] Optionally, the working parameters include movement path, massage intensity, massage method and / or massage duration.

[0030] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a rehabilitation therapy robot, comprising:

[0031] A body, comprising a placement platform and at least one depth camera, at least one thermal imaging camera and a massage device disposed on the placement platform; and,

[0032] A control device is electrically connected to the depth camera, the thermal imaging camera and the massage device respectively, and the control device includes a memory, a processor and a meridian massage program for a rehabilitation therapy robot stored in the memory and executable on the processor, wherein the meridian massage program for the rehabilitation therapy robot is configured to implement the steps of the meridian massage method for the rehabilitation therapy robot as described above.

[0033] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a storage medium, on which a meridian massage program of a rehabilitation therapy robot is stored. When the meridian massage program of the rehabilitation therapy robot is executed by a processor, the steps of the meridian massage method of the rehabilitation therapy robot as described above are implemented.

[0034] In the technical solution provided by the present invention, the depth image information can obtain the patient's appearance image and corresponding size data, the thermal imaging image information can determine the patient's reference organs and reference patient data, and by matching the patient's appearance image, corresponding size data and reference organs to the theoretical meridian image, a first meridian image that is more suitable for the patient's own condition can be generated; and by marking and confirming the characteristic acupoints, the first meridian image can be calibrated. When the first meridian image is calibrated to be qualified, the first meridian image constitutes the target meridian image; finally, by combining the reference patient data and the target meridian image obtained in the above-mentioned thermal imaging image information, the massage device can be operated to perform more targeted and effective massage therapy on the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0036] Figure 1 A three-dimensional schematic diagram of an embodiment of a rehabilitation therapy robot provided by the present invention;

[0037] Figure 2 for Figure 1 A schematic diagram of the structure of the massage device;

[0038] Figure 3 for Figure 2 A schematic diagram of the cross-sectional structure of the simulated massage part;

[0039] Figure 4 A schematic diagram of the structure of a control device for a hardware operating environment according to an embodiment of the present invention;

[0040] Figure 5 for Figure 1 A schematic diagram of a framework of an embodiment of a control device in a rehabilitation therapy robot;

[0041] Figure 6 The present invention provides a flow chart of an embodiment of a meridian massage method for a rehabilitation therapy robot.

[0042] Description of Figure Numbers:

[0043] 110 body; 120 depth camera; 130 thermal imaging camera; 140 massage device; 141 simulation massage part; 141a base; 141b elastic structure layer; 141c contoured protrusion; 142 force sensor; 143 temperature control device; 144 driving mechanism; 150 input module; 160 control device; 161 processor; 162 communication bus; 163 user interface; 164 network interface; 165 memory.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] The present invention provides a rehabilitation therapy robot. It can be understood that the rehabilitation therapy robot can be used to assist in performing massage therapy on patients.

[0049] It should be noted that in the following embodiments, the rehabilitation therapy robot is described by taking the vertical, horizontal and longitudinal directions arranged in pairs as an example. In a specific application of the rehabilitation therapy robot, the vertical direction corresponds to the direction of gravity, and has an upward direction and a downward direction arranged relatively; the horizontal and longitudinal directions are roughly perpendicular, and the planes where the two directions are located are perpendicular to the direction of gravity.

[0050] Specifically, see Figures 1 to 5 The rehabilitation therapy robot includes a body 110, a depth camera 120, a thermal imaging camera 130, a massage device 140 and a control device 160. And according to actual needs, the rehabilitation therapy robot may further include an input module 150.

[0051] The body 110 generally provides a placement area. The placement area is defined by, for example, a reclining chair, a bed, etc., and can be used to place the user's massaged area. The massaged area can be, but is not limited to, the user's back, legs, buttocks, neck, etc. The depth camera 120, the thermal imaging camera 130, and the massage device are generally suspended above the massaged area.

[0052] According to actual needs, the massage device 140 as a whole can be fixed relative to the body 110. That is, the massage device 140 mainly massages the same part to be massaged of the user; or the user needs to adjust and move different parts to be massaged to the placement area. Of course, the massage device 140 as a whole can also be set to be movable relative to the body 110, so that the massage device 140 as a whole can be transferred to different parts to be massaged of the user for massage without the need for the user to move, which is more flexible. Among them, the direction and form of relative movement between the massage device 140 as a whole and the body 110 are not limited, and can be a translational movement along at least one of the vertical, horizontal and longitudinal directions; it can also be a rotational movement around an axis extending along at least one of the vertical, horizontal and longitudinal directions.

[0053] The massage device 140 includes a simulated massage piece 141 and a driving mechanism 144 for driving the simulated massage piece 141 to move. The simulated massage piece 141 mainly achieves the purpose of massaging the massaged part by abutting against the user's massaged part to generate a relative force. In one embodiment, the simulated massage piece 141 includes a base 141a and an elastic structure layer 141b. The outer surface of the base 141a includes a first surface and a second surface connected to each other, the first surface extends in a straight surface shape and is connected to the driving mechanism 144, and the second surface extends in a convex arc shape and is used to contact the massaged part; the elastic structure layer 141b at least covers the outer side of the second surface.

[0054] The rigidity of the base 141a is set to be greater than the rigidity of the elastic structure layer 141b, so that the base 141a can form sufficient structural strength and provide structural support to the elastic structure layer 141b, ensuring that the simulated massage piece 141 can transmit sufficient force during the massage of the massaged part. Specifically, the base 141a can be directly made of elastic material. Or the base 141a is also made of elastic material, but the elastic modulus of the elastic material used to prepare the base 141a is greater than the elastic modulus of the elastic material used to prepare the elastic structure layer 141b.

[0055] In addition, the base 141a can be a solid structure or a hollow structure with a cavity formed at least partially. In one embodiment, when a cavity is formed inside the base 141a, the cavity can be used to store liquids needed during the massage process, such as massage medicated oil, care agents, etc. The cavity penetrates the second surface of the base 141a and the elastic structure layer 141b. A liquid outlet channel is formed at the penetration. The liquid outlet channel can be controlled on and off by a valve body structure, for example. In this way, when it is necessary to apply some medicated oil, for example, during the massage process, the liquid outlet channel can be controlled to be open; conversely, when it is not necessary to apply medicated oil, the liquid outlet channel can be controlled to be blocked.

[0056] The elastic structure layer 141b is coated on the second surface, so that the surface of the simulation massage part 141 that may abut against the part to be massaged is coated with the elastic structure layer 141b. Therefore, with the elastic performance of the elastic structure layer 141b, the softness and toughness of human hands can be simulated, making the pressing of the part to be massaged more comfortable and safe. When the elastic structure layer 141b is coated on the second surface, the elastic modulus of the elastic structure layer 141b can be specifically set to be consistent on the entire second surface; or according to actual needs, the elastic structure layer 141b can also be specifically set to have inconsistent elastic moduli in different regions on the second surface, thereby forming at least two regions with different massage sensations.

[0057] It should be noted that the first surface of the above-mentioned base 141a is set as a flat surface, so that it can be better connected to the driving mechanism 144, and can receive the driving force transmitted by the driving mechanism 144 in a more balanced and stable manner. By setting the second surface as a convex arc surface, it is helpful to simulate the human hand, palm or elbow more realistically, and improve the user's physical comfort. Further, the second surface includes at least two connected abutment surface segments, each of which is arranged in an arc shape, and the curvature of at least two abutment surface segments is set differently. That is, the second surface may not be limited to being composed of a convex arc surface, but may be composed of at least two different convex arc surfaces with different curvatures; or it may be composed of at least two convex arc surfaces with different curvatures, and at least one concave arc surface. In this way, arc surfaces with different curvatures can simulate different force application parts, such as a palm with a larger curvature and a relatively gentle arc, or an elbow with a smaller curvature and a relatively steep arc. In a specific application, by operating different abutting surface sections of the simulated massage element 141 to abut against the massaged parts, different massage sensations can be exchanged, making the massage modes more diverse.

[0058] By setting the shape of the simulated massage piece 141 as described above, the simulated massage piece 141 can provide a contact surface segment with a larger curvature to massage a large area of ​​the massage part, and can also provide a contact surface segment with a smaller curvature to accurately massage, for example, acupoints.

[0059] Furthermore, the base 141a is partially convexly provided on the second surface to form at least one protrusion 141c, and the elastic structure layer 141b is suitable for the shape setting of the protrusion 141c. That is, for example, the curvature of any of the above-mentioned abutment surface segments can be set to be smaller and close to the shape of a human finger to form the protrusion 141c. In this case, the protrusion 141c can simulate the human part it imitates and perform targeted massage on the massage part.

[0060] In addition, in a further solution, the simulated massage element 141 also includes a force sensor 142 and / or a temperature regulating device 143 .

[0061] The force sensor 142 is disposed on the second surface and is covered by the elastic structure layer 141b. The force sensor 142 can sense the external force at the location, for example, the magnitude of the massage force applied by the simulated massage element 141 at the location to the massage part, so that on the one hand, the massage force applied by the simulated massage element 141 to the massage part can be more reasonable; on the other hand, it can also timely sense when the massage force applied by the simulated massage element 141 to the massage part is abnormal, so that the massage force applied by the simulated massage element 141 to the massage part is safer.

[0062] The force sensor 142 senses external force through its sensing part. At this time, the sensing part of the same force sensor 142 can be set to one or at least two. Among them, when the sensing part is set to at least two, the orientation of each sensing part can be set in the same way, and arranged in different areas on the second surface so as to be able to sense external forces in different areas (such as the above-mentioned abutment surface segments). Or the orientations of at least two sensing parts of each sensing part can be set differently. That is, at least two sensing parts can sense external forces applied in different directions, so that the force sensor 142 can sense the external forces applied at various locations of the simulated massage part 141 more accurately and sensitively.

[0063] Among them, the temperature regulating device 143 is arranged at the second surface, and is used to adjust the temperature value at the second surface. The temperature regulating device 143 can be, but is not limited to, a heating device and / or a cooling device. Among them, the heating device is, for example, a resistance heating device, an infrared heating device, an induction heating device, etc. The heating device can adjust the temperature of the simulated massage part 141, especially at the second surface, to a suitable temperature value, for example, to a temperature value close to human body temperature, to avoid the user's somatic comfort being reduced due to being too cold when the simulated massage part 141 touches the part to be massaged. The cooling device is, for example, a liquid cooling device, a semiconductor cooling device, a phase change material cooling device, etc. The cooling device can adjust the temperature of the simulated massage part 141, especially at the second surface, to a suitable temperature value, especially when the part to be massaged is, for example, hot and swollen, the simulated massage part 141 can be used to achieve the effect of moderate cooling and ice compress.

[0064] The above-mentioned simulation massage member 141 can at least rotate around the axis extending vertically under the drive of the driving mechanism 144, that is, simulate the circular kneading of the massaged part. Further, the simulation massage member 141 can also be arranged vertically relative to the movable seat. Its stroke is small, that is, it can simulate the human hand and the like to press the massaged part appropriately, and combined with the above-mentioned circular motion to form peristalsis, it can meet the kneading form of the massaged part of the human hand and the like.

[0065] Based on one or more of the above embodiments, the rehabilitation therapy robot is also equipped with a depth camera 120. The depth camera 120 is a camera that can capture the distance information of objects in the scene. It calculates the distance by measuring the time or phase difference of light from the camera to the object and then back, or obtains depth information through stereo vision, structured light and other methods. In this embodiment, the depth camera 120 is suspended above the placement area, and the shooting surface of the depth camera 120 is set toward the above-mentioned placement area of ​​the body 110. When the patient is placed in the placement area, the depth image information of the patient can be obtained by enabling the depth camera 120, which is then convenient for generating a human body model of the patient based on the depth image information.

[0066] The rehabilitation therapy robot is also equipped with a thermal imaging camera 130. The thermal imaging camera 130 is a device that uses infrared rays to detect the heat emitted by an object and converts it into a visible image. All objects with a temperature above absolute zero will emit infrared radiation, and the thermal imaging camera 130 can detect this radiation and generate a thermal map. Generally, the thermal imaging image information captured by the thermal imaging camera 130 on the patient includes the patient's body surface temperature distribution and the like.

[0067] It should be noted that the above-mentioned depth camera 120 and / or thermal imaging camera 130 can be set to one or at least two according to actual needs. And when set to at least two, the orientation of the shooting surface of each depth camera 120 and / or thermal imaging camera 130 can be set to be different. In addition, the depth camera 120 and / or thermal imaging camera 130 can be set to be fixed relative to the placement platform in the body 110; or the depth camera 120 and / or thermal imaging camera 130 can be set to be movable and adjustable relative to the placement platform, and the activity direction and activity mode of the depth camera 120 and / or thermal imaging camera 130 are not limited, and can be specifically set according to actual needs.

[0068] The input module 150 generally provides a human-computer interaction interface for the user to manually trigger the corresponding command, or manually enter the value of the corresponding parameter, etc. The specific form of the input module 150 is not limited, and can be but not limited to a display control panel with integrated mechanical keys or virtual keys, a barcode scanner for scanning identification codes, etc.

[0069] Of course, according to actual needs, the rehabilitation therapy robot can also include functional components such as prompt modules, various required sensors, etc., without limitation.

[0070] Reference Figures 4 to 5 , Figures 4 to 5 It is a schematic diagram of the structure of the control device 160 of the hardware operating environment involved in the embodiment of the present invention.

[0071] The control device 160 is electrically connected to the above-mentioned massage device 140, depth camera 120, thermal imaging camera 130 and input module 150 respectively to enable signal interaction. Specifically, the control device 160 may include: a processor 161, such as a central processing unit 161 (CPU), a communication bus 162, a user interface 163, a network interface 164, and a memory 165. Among them, the communication bus 162 is used to realize the connection and communication between these components. The user interface 163 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 163 may also include a standard wired interface and a wireless interface. The network interface 164 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 165 may be a high-speed random access memory 165 (Random Access Memory, RAM) memory 165, or a stable non-volatile memory 165 (Non-Volatile Memory, NVM), such as a disk memory 165. The memory 165 may also be a storage device independent of the aforementioned processor 161.

[0072] Those skilled in the art will understand that Figures 4 to 5 The structure shown in the figure does not constitute a limitation on the control device 160, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0073] like Figures 4 to 5 As shown, the memory 165 as a storage medium may include an operating system, a network communication module, a user interface 163 module, and a meridian massage program of the rehabilitation therapy robot.

[0074] exist Figures 4 to 5 In the control device 160 shown, the network interface 164 is mainly used for data communication with the network server; the user interface 163 is mainly used for data interaction with the user; the processor 161 and the memory 165 in the control device 160 of the present invention can be set in the brewing device, and the control device 160 calls the meridian massage program of the rehabilitation therapy robot stored in the memory 165 through the processor 161, and executes the meridian massage method of the rehabilitation therapy robot provided by the embodiment of the present invention.

[0075] The embodiment of the present invention provides a meridian massage method for a rehabilitation therapy robot, referring to Figure 6 , Figure 6 The present invention is a flowchart of an embodiment of a meridian massage method for a rehabilitation therapy robot.

[0076] Specifically, the meridian massage method of the rehabilitation therapy robot includes:

[0077] Step S200: activating the depth camera 120 and the thermal imaging camera 130, and acquiring depth image information and thermal imaging image information of the patient respectively;

[0078] In this embodiment, it is first necessary to confirm whether the patient is placed on the placement platform according to the preset posture. Taking the preset posture of lying flat as an example, in one application, the rehabilitation therapy robot can actively prompt the patient to the standard placement posture through the prompt module, and then confirm whether the patient's posture is adjusted in place through the sensor device; when it is confirmed that the patient's posture is adjusted in place, the depth camera 120 and the thermal imaging camera 130 are enabled. Among them, the sensor device can be but not limited to an ordinary camera, photoelectric sensor, weight sensor, etc. that can recognize user images. Of course, in another application, there may also be a user (that is, the operator of the rehabilitation therapy robot) who manually guides the patient to place the patient on the placement platform according to the preset posture, or by pre-marking a visual mark on the placement platform to remind the patient to place according to the preset posture; then when the user confirms that the patient is placed in place on the placement platform, the depth camera 120 and the thermal imaging camera 130 are manually triggered to start.

[0079] The depth camera 120 and the thermal imaging camera 130 can simultaneously capture the depth image information and the thermal imaging image information of the patient, or the depth camera 120 and the thermal imaging camera 130 can successively capture the depth image information and the thermal imaging image information of the patient according to actual needs.

[0080] When the patient is placed on the placement platform in a preset posture, such as lying flat, the front and side of the patient can be exposed for the depth camera 120 and the thermal imaging camera 130 to capture, but the back may be blocked, and the depth camera 120 and the thermal imaging camera 130 cannot accurately capture the image. And for example, when the patient is placed on the placement platform in the preset posture of lying on the side, the local part of the patient's body may be squeezed and deformed, which is not conducive to the subsequent accurate generation of the first meridian image. Therefore, further, in one application, the above step S200 specifically includes:

[0081] Step S210: prompting the patient to adjust to at least two different preset postures in sequence;

[0082] Step S220: after each posture adjustment is in place, the depth camera 120 and the thermal imaging camera 130 are enabled, and the depth image information and thermal imaging image information of the patient are obtained respectively;

[0083] Step S230: Associating each of the preset postures, each of the depth image information and each of the thermal imaging image information in a one-to-one correspondence.

[0084] It is understandable that the user can predetermine the type and number of preset postures that the patient needs to adjust based on experience or the rehabilitation therapy robot can predetermine according to preset rules. The reference standard for the type and number of preset postures can be, for example, but not limited to, the specific diseased part of the patient, the patient's characteristic information such as body shape, age, etc. For example, when the patient's main diseased part is in the abdomen, the patient may need to be placed mainly in the two preset postures of supine and prone; when the patient's muscles are more developed, the patient may need to be placed in the preset posture of side-lying to facilitate the subsequent precise positioning of the acupuncture points.

[0085] For example, if the preset postures are set to three different positions, the three preset postures will be prioritized according to user experience or in combination with the default rules of the rehabilitation therapy robot, and the three preset postures are respectively the first preset posture, the second preset posture, and the third preset posture in order. For example, when one of the three preset postures is lying on the back, the preset posture of lying on the back is used as the first preset posture with a relatively high priority. When one of the three preset postures is lying on the side, the preset posture of lying on the side is used as the third preset posture with a relatively low priority.

[0086] The preset posture, depth image and thermal imaging image need to be associated one by one, and then stored together or data transmitted. For example: after confirming that the patient is placed in place on the placement platform in the first preset posture, start the depth camera 120 and the thermal imaging camera 130, and capture or a first set of depth image information and thermal imaging image information. Then, after confirming that the patient is placed in place on the placement platform in the second preset posture, capture or a second set of depth image information and thermal imaging image information. After confirming that the patient is placed in place on the placement platform in the third preset posture, capture or a third set of depth image information and thermal imaging image information. The first set of depth image information and thermal imaging image information, the second set of depth image information and thermal imaging image information, and the third set of depth image information and thermal imaging image information are packaged and sent to the control device 160 respectively.

[0087] It can be understood that the more types and numbers of preset postures there are, the more conducive it is to subsequently generate a more accurate first meridian image, but it is easy to increase the complexity and difficulty of this process; conversely, the fewer types and numbers of preset postures there are, the simpler the process of subsequently generating the first meridian image is, but it is easy to reduce the accuracy of the first meridian image to a certain extent. Therefore, in actual application, the user can selectively operate the range of the first meridian image, for example, it can be a first meridian image for the whole body, a first meridian image for the upper body, a first meridian image for the arm, etc.

[0088] There are many bases for user selection. For example, in one embodiment, before step S300, specifically between step S200 and step S300, or preferably before step S200, the following is also included:

[0089] Step S100: Acquire patient information of the patient, and determine the range of the target meridian image to be generated according to the patient information.

[0090] It can be understood that the user can input the patient's patient information through the above-mentioned input module 150, for example. Or the user can call the patient's patient information through the cloud or other forms. The patient's patient information at least includes the main diseased parts, physical therapy needs, etc. confirmed in the previous physical therapy process. When the patient's diseased parts and physical therapy needs are only in a part of the body, such as the abdomen or back, then the range of the target meridian image to be generated can be determined with the diseased part as the center, that is, the range of the first meridian image to be generated in step S300. In this way, it helps to simplify the first meridian image while making the first meridian image more suitable for the patient's actual physical therapy situation, thereby helping to control the massage device 140 based on this to carry out effective diagnosis, massage and physical therapy on the patient's diseased part in a targeted manner.

[0091] It should be noted that the depth image information and / or thermal imaging image information associated with each of the above-mentioned preset postures can be set to one or at least two according to actual needs. When set to at least two, it is helpful to integrate and generate a more accurate first meridian image.

[0092] Step S300: generating a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image;

[0093] In this embodiment, the depth camera 120 can capture the patient's depth image information. The depth image information includes shape information and size information in the preset posture, which is helpful to establish a human body model about the patient. The thermal imaging camera 130 can capture the patient's thermal imaging image information. The thermal imaging image information may include the distribution of body surface temperature in the preset posture. The theoretical meridian image can be generated in advance by repeated measurements, or obtained in advance by query, and stored in the database. It can be understood that the theoretical meridian image is universal for all human bodies, or is only roughly distinguished by gender. However, different people may show some subtle differences in their meridians due to differences in body shape, age, gender, health status and other factors. For example, for people of different heights, weights and thinness, the relative positions of the acupoints in their meridians remain unchanged, but the specific positioning of a certain acupoint on the body surface may be different; or for example, for a human body with more developed muscles, the positioning of its acupoints may also take into account the muscle thickness. If this point is ignored, the subsequent massage intensity for the acupoint may not be in place.

[0094] In view of the above, specifically, step S300 includes:

[0095] Step S310: constructing a human body model of the patient according to the depth image information;

[0096] Step S320: identifying a plurality of reference organs of the patient at the human body model according to the thermal imaging image information, and determining a plurality of reference acupuncture points according to each of the reference organs;

[0097] Step S330: calling a pre-stored theoretical meridian image, and generating a first meridian image at the human body model by matching each of the reference acupoints with the theoretical acupoints in the theoretical meridian image one by one.

[0098] It can be understood that the depth image information can construct a human body model of the patient, that is, the patient's height, weight, etc. can be basically determined. When the theoretical meridian image is called, the theoretical meridian image can be added to the above human body model to roughly determine the meridian path corresponding to the human body model.

[0099] The thermal imaging image information can identify the required reference organs with typical characteristics from the body surface temperature distribution, and indirectly associate the reference acupuncture points with the reference organs. Chinese medicine believes that meridians are important channels connecting the five internal organs. Each meridian is associated with one or more internal organs, and is associated with one or more surface organs. Therefore, when the reference organ is determined, the reference acupuncture points can be determined more easily. Of course, the thermal imaging image information can also directly identify the required reference acupuncture points with typical characteristics from the body surface temperature distribution. It should be noted that the above-mentioned reference organs are not limited to internal organs. At present, the relatively mature thermal imaging image information is mainly concentrated on the patient's body surface, that is, it is basically impossible to detect the temperature of the internal organs in the patient's body. However, it can be understood that some surface organs can also be used as positioning references for certain reference acupuncture points, such as facial features, fingers, navel, chest, some nerves, etc. In addition, the present design does not limit the way of indirectly measuring some internal organs by combining the thermal imaging camera 130 with other mechanisms or diagnosis and treatment methods. For example, other materials that can produce temperature changes in internal organs can be relatively safely introduced into the patient's body, and then the patient's temperature distribution map can be captured by the thermal imaging camera 130. In addition, the above-mentioned typical characteristics refer to organs or acupuncture points with high recognition accuracy and / or easy to identify and confirm.

[0100] The number of the reference organs and reference acupuncture points is set to at least two as far as possible. By matching the reference acupuncture points identified in the thermal imaging image with the corresponding theoretical acupuncture points queried in the theoretical meridian image, the theoretical meridian image can be adaptively adjusted to the human body model of the current patient to obtain the first meridian image. The more the number of reference organs and reference acupuncture points is set, the more it helps to improve the accuracy of the first meridian image obtained by matching.

[0101] Step S400: prompting the user to mark a characteristic acupoint, and obtaining the actual position information of the characteristic acupoint and the theoretical position information of the characteristic acupoint in the first meridian image;

[0102] It is understandable that the user can actively or under the prompt of the prompt module, select one or at least two characteristic acupoints for marking. Among them, the characteristic acupoints are generally selected from acupoints with typical characteristics that can be located more easily and more accurately. And it should be noted that the characteristic acupoints are set differently from the above-mentioned reference acupoints, that is, when a certain acupoint constitutes the above-mentioned reference acupoint, it cannot be determined as a characteristic acupoint, so as to avoid repeated and invalid calibration of the positioning of the same acupoint.

[0103] There is no limitation on the marking method. For example, it can be set to different identification codes and recognized by a scanner; or it can be set to different colors, different characters, different patterns, etc. and recognized by an ordinary camera image.

[0104] There is no limitation on the method for determining the actual position information of the characteristic acupuncture points. For example, in one embodiment, a reference coordinate system and reference points can be established for the placement platform in advance, and the reference coordinate system and reference points can be synchronously brought into the human body model constructed in step S300 to form a system coordinate system and system points. In this way, the position of the patient in the reference coordinate system of the placement platform can be made substantially the same as the position of the human body model in the system coordinate system. At this time, the above-mentioned actual position information can be obtained by measuring the azimuth relationship between the characteristic acupuncture points and the reference points. Similarly, the above-mentioned theoretical position information can be obtained by the azimuth relationship between the corresponding characteristic acupuncture points and the system points queried from the first meridian image.

[0105] Of course, the above-mentioned reference points may also be replaced by certain organs on the patient's body surface, such as the patient's clearly discernible facial features.

[0106] Step S510: after the error value between the actual position information and the theoretical position information is not greater than a preset error threshold, determining the first meridian image as a target meridian image;

[0107] In this embodiment, when the actual position information and the theoretical position information are determined respectively, the error value between the two needs to be calculated. When the error value between the two is not greater than the preset error threshold, it means that the matching degree of integrating the theoretical meridian image into the patient's human body model in the above step S300 is high and is sufficiently close to the patient's real meridian image. It also means that the meridian operation is in place, and the first meridian image can be directly used as the target meridian image.

[0108] Of course, when the error value between the actual position information and the theoretical position information is greater than the preset error threshold, it means that the matching degree of integrating the theoretical meridian image into the patient's human body model in the above step S300 is not enough, and there is still a significant gap with the patient's real meridian image. At this time, further after step S400, it also includes:

[0109] Step S521: after the error value between the actual position information and the theoretical position information is greater than a preset error threshold, correcting the first meridian image according to the error value;

[0110] Step S522: prompt the user to mark another characteristic acupoint, and obtain the actual position information of the characteristic acupoint and the theoretical position information in the corrected first meridian image, until the error value between the actual position information and the theoretical position information is no greater than a preset error threshold, and determine that the currently corresponding first meridian image is the target meridian image.

[0111] It can be understood that when an error value between the first actual position information and the first theoretical position information corresponding to the first characteristic acupoint is greater than an error threshold, the first meridian image can be corrected for the first time based on the first error value to obtain a second meridian image.

[0112] Then, repeat the above step S400, mark the second characteristic acupoint, obtain the second actual position information and the second theoretical position information accordingly, and calculate the second error value. If the second error value is still greater than the error threshold, continue to perform a second correction on the second meridian image based on the second error value, or the third meridian image.

[0113] This process is repeated until the Nth (N is a natural number of 2) characteristic acupoint is marked, and the corresponding Nth actual position information and Nth theoretical position information are obtained, the Nth error value is calculated, and the Nth error value is not greater than the error threshold. At this time, the above correction process can be stopped, and the N+1th meridian image is used as the target meridian image.

[0114] In addition, based on the above embodiment, after step S510 and / or step S522, a verification operation for the target meridian image may be selectively performed once or at least twice. The verification operation includes, for example: the rehabilitation therapy robot randomly selects one or at least two verification acupoints, and conveys them to the user through a prompt module or a display module, and the user manually locates and marks them on the patient's body, and then, referring to the above, the error values ​​of the actual position information and the theoretical position information of the verification acupoints can be compared to verify whether the current target meridian image has basically reached the target accuracy. Similarly to the above, the verification acupoints, characteristic acupoints and reference acupoints are different from each other.

[0115] It should be noted that, after the patient's location is determined based on, for example, the patient's information, the selection of the characteristic acupoints, reference acupoints, and verification acupoints is as close to the patient's location as possible, which makes the meridian path at the patient's location more accurate, facilitating subsequent targeted geotherapy.

[0116] Step S600: According to the target meridian image and the thermal imaging image information, the massage device 140 is controlled to perform massage therapy on the user.

[0117] In this embodiment, after the target meridian image of the patient is determined, a more suitable physical therapy plan for the patient can be obtained with the help of thermal imaging image information. Specifically, step S600 includes:

[0118] Step S610: Acquire the patient's information, and generate the patient's physical therapy requirement information according to the patient information and the thermal imaging image information;

[0119] Step S620: determining the working parameters of the massage device 140 according to the therapy demand information and the target meridian image;

[0120] Step S630: Control the massage device 140 to start running according to the working parameters.

[0121] It can be understood that after obtaining the patient's patient information as described above, the first patient site and the first physiotherapy plan obtained from the previous diagnosis and treatment can be determined based on the patient's patient information. In the above-mentioned thermal imaging image information, the second patient site can be observed through the distribution of body surface temperature, and a second physiotherapy plan can be generated based on the second patient site. The second patient site is related to the first patient site, and the second patient site can be directly the first patient site itself, or the second patient site is other patient sites associated with the first patient site that may exist in addition to the first patient site. Therefore, by integrating the first patient site and the second patient site, and integrating the first physiotherapy plan and the second physiotherapy plan, relatively more comprehensive patient physiotherapy demand information can be obtained.

[0122] When the physiotherapy demand information is determined, the information required for physiotherapy, such as target acupuncture points and target meridian paths, can be determined from the target meridian image according to the physiotherapy demand information, and the working parameters for the massage device 140 can be generated according to the information. The working parameters include, for example, the moving path, massage intensity, massage method and / or massage duration of the above-mentioned simulation massage part 141, and may also include other parameters without limitation. In this way, the massage device 140 can make the massage therapy for the patient more in line with the patient's actual condition and have a better physiotherapy effect.

[0123] In the technical solution provided by the present invention, the depth image information can obtain the patient's appearance image and corresponding size data, and the thermal imaging image information can determine the patient's reference organs and reference patient data. By matching the patient's appearance image, corresponding size data and reference organs to the theoretical meridian image, a first meridian image that is more suitable for the patient's own condition can be generated; and by marking and confirming the characteristic acupoints, the first meridian image can be calibrated. When the first meridian image is calibrated to be qualified, the first meridian image constitutes the target meridian image; finally, by combining the reference patient data and the target meridian image obtained in the above-mentioned thermal imaging image information, the massage device 140 can be operated to perform more targeted and effective massage therapy on the patient.

[0124] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory 165 (Read Only Memory, ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A meridian massage method for a rehabilitation therapy robot, characterized in that: The meridian massage robot comprises a body and a depth camera, a thermal imaging camera and a massage device arranged on the body. The meridian massage method of the rehabilitation therapy robot comprises: Enable the depth camera and the thermal imaging camera, and obtain the depth image information and thermal imaging image information of the patient respectively; Generate a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image; Prompting the user to mark a characteristic acupoint, and obtaining actual position information of the characteristic acupoint and theoretical position information of the characteristic acupoint in the first meridian image; After the error value between the actual position information and the theoretical position information is not greater than a preset error threshold, determining the first meridian image as a target meridian image; According to the target meridian image and the thermal imaging image information, the massage device is controlled to perform massage therapy on the user.

2. The meridian massage method of the rehabilitation therapy robot according to claim 1, characterized in that: The steps of enabling the depth camera and the thermal imaging camera and respectively acquiring the depth image information and the thermal imaging image information of the patient include: Prompting the patient to adjust to at least two different preset postures in sequence; After each posture adjustment is in place, the depth camera and the thermal imaging camera are enabled to obtain the patient's depth image information and thermal imaging image information respectively; Each of the preset postures, each of the depth image information and each of the thermal imaging image information are associated in a one-to-one correspondence.

3. The meridian massage method of the rehabilitation therapy robot according to claim 1, characterized in that: The step of generating a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image comprises: constructing a human body model of the patient according to the depth image information; According to the thermal imaging image information, a plurality of reference organs of the patient are identified at the human body model, and a plurality of reference acupuncture points are determined according to each of the reference organs; The pre-stored theoretical meridian image is called, and the first meridian image is generated at the human body model by matching each of the reference acupoints with the theoretical acupoints in the theoretical meridian image one by one.

4. The meridian massage method of the rehabilitation therapy robot according to claim 1, characterized in that: Before the step of generating a first meridian image of the patient according to the depth image information, the thermal imaging image information and a preset theoretical meridian image, the method further includes: The patient information of the patient is obtained, and the range of the target meridian image to be generated is determined according to the patient information.

5. The meridian massage method of the rehabilitation therapy robot according to claim 1, characterized in that: There are at least two characteristic acupuncture points.

6. The meridian massage method of the rehabilitation therapy robot according to claim 1, characterized in that: After the step of prompting the user to mark the characteristic acupoints and obtaining the actual position information of the characteristic acupoints and the theoretical position information in the first meridian image, the method further includes: After the error value between the actual position information and the theoretical position information is greater than a preset error threshold, correcting the first meridian image according to the error value; The user is prompted to mark another characteristic acupoint, and the actual position information of the characteristic acupoint and the theoretical position information in the corrected first meridian image are obtained, until the error value between the actual position information and the theoretical position information is no greater than a preset error threshold, and the currently corresponding first meridian image is determined to be the target meridian image.

7. The meridian massage method of the rehabilitation therapy robot according to claim 1, characterized in that: The step of controlling the massage device to perform massage therapy on the user according to the target meridian image and the thermal imaging image information comprises: Acquire the patient's medical information, and generate the patient's medical treatment requirement information according to the patient information and the thermal imaging image information; Determining working parameters of a massage device according to the therapy demand information and the target meridian image; The massage device is controlled to start running according to the working parameters.

8. The meridian massage method of the rehabilitation therapy robot according to claim 7, characterized in that: The working parameters include moving path, massage intensity, massage method and / or massage duration.

9. A rehabilitation therapy robot, characterized in that: include: A body, comprising a placement platform and at least one depth camera, at least one thermal imaging camera and a massage device disposed on the placement platform; as well as, A control device is electrically connected to the depth camera, the thermal imaging camera and the massage device, respectively. The control device includes a memory, a processor and a meridian massage program for a rehabilitation therapy robot stored in the memory and executable on the processor. The meridian massage program for the rehabilitation therapy robot is configured to implement the steps of the meridian massage method for the rehabilitation therapy robot as described in any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium stores a meridian massage program for a rehabilitation therapy robot, and when the meridian massage program for the rehabilitation therapy robot is executed by the processor, the steps of the meridian massage method for the rehabilitation therapy robot as described in any one of claims 1 to 8 are implemented.

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